Brake light detection

ABSTRACT

Systems, methods, and devices for detecting brake lights are disclosed herein. A system includes a mode component, a vehicle region component, and a classification component. The mode component is configured to select a night mode or day mode based on a pixel brightness in an image frame. The vehicle region component is configured to detect a region corresponding to a vehicle based on data from a range sensor when in a night mode or based on camera image data when in the day mode. The classification component is configured to classify a brake light of the vehicle as on or off based on image data in the region corresponding to the vehicle.

TECHNICAL FIELD

The disclosure relates generally to methods, systems, and apparatusesfor automatic brake light detection and more particularly relates tomethods, systems, and apparatuses for day or night brake light detectionusing deep learning.

BACKGROUND

Automobiles provide a significant portion of transportation forcommercial, government, and private entities. Autonomous vehicles anddriving assistance systems are currently being developed and deployed toprovide safety, reduce an amount of user input required, or eveneliminate user involvement entirely. For example, some drivingassistance systems, such as crash avoidance systems, may monitordriving, positions, and a velocity of the vehicle and other objectswhile a human is driving. When the system detects that a crash or impactis imminent the crash avoidance system may intervene and apply a brake,steer the vehicle, or perform other avoidance or safety maneuvers. Asanother example, autonomous vehicles may drive and navigate a vehiclewith little or no user input. Due to the dangers involved in driving andthe costs of vehicles, it is important that autonomous vehicles anddriving assistance systems operate safely and are able to accuratelydetect objects and current conditions.

BRIEF DESCRIPTION OF THE DRAWINGS

Non-limiting and non-exhaustive implementations of the presentdisclosure are described with reference to the following figures,wherein like reference numerals refer to like parts throughout thevarious views unless otherwise specified. Advantages of the presentdisclosure will become better understood with regard to the followingdescription and accompanying drawings where:

FIG. 1 is a schematic block diagram illustrating an implementation of avehicle control system that includes an automated driving/assistancesystem;

FIG. 2 is a schematic block diagram illustrating a method for brakelight detection, according to one implementation;

FIG. 3 illustrates a perspective view of a vehicle on a roadway withbounding boxes for a vehicle and brake lights, according to oneimplementation;

FIG. 4 is a schematic block diagram illustrating example components of abrake light component, according to one implementation;

FIG. 5 is a schematic flow chart diagram illustrating a method for brakelight detection, according to one implementation; and

FIG. 6 is a schematic block diagram illustrating a computing system,according to one implementation.

DETAILED DESCRIPTION

Autonomous and assisted driving vehicles will need to know if a vehicleahead of them is braking in order to slow down and keep a safe distance.Additionally, if a traffic light is recognized as green, but thevehicles ahead have their brake lights on, an autonomous vehicle shouldnot attempt to pass the intersection. Similarly, when approaching anintersection with traffic lights that are broken or visually obscured(e.g., by a large vehicle in front of the autonomous vehicle),recognition of brake lights will enable the autonomous vehicle to inferwhen it is okay to go or move. In one embodiment, automatic brake lightdetection can also be incorporated into a driver assistance system forregular vehicles. For example, if a driver is distracted and does notnotice that a vehicle ahead of the driver is braking, the system mayalert the driver with audio/visual warnings.

Applicants have developed methods, systems, and devices for detectingbrake lights and their state. In one embodiment, a system for detectingbrake lights includes a mode component, a vehicle region component, anda classification component. The mode component is configured to select anight mode or day mode based on a pixel brightness in an image frame.The vehicle region component is configured to detect a regioncorresponding to a vehicle based on data from a range sensor when in anight mode or based on camera image data when in the day mode. Theclassification component is configured to classify a brake light of thevehicle as on or off based on image data in the region corresponding tothe vehicle.

In one embodiment, computer vision is combined with deep learning toautomatically detect brake lights of vehicles using light detection andranging (LIDAR) data and camera data. Deep learning and computer visionmay be used to detect whether the brake lights of the vehicle a head ofan autonomous vehicle or a regular vehicle are on. This can help to notonly keep a safe distance from the vehicle ahead, but also helps tosafely pass an intersection.

In one embodiment, a system may detect whether to perform brake lightdetection using a day mode or a night mode. In one embodiment, thesystem determines an average intensity of the pixels in the upper partof an image frame. The average intensity may be calculated for everyimage frame or for one or more image frames in a time period, such asone or more images within a second time frame. If the pixel intensity isgreater than a threshold, the system may determine to use a day mode andif the intensity is less than a threshold, the system may use a nightmode.

The system may perform vehicle detection to identify where in an imageframe a vehicle is located. In the day mode, the system may detect allthe vehicles within each image (such as a red-green-blue “RGB” image) inorder to identify regions of interests for brake light detection. In theday mode, this may be accomplished by first extracting feature maps fromthe RGB or RGB depth (RGB-D) (using LIDAR to create a depth map).Feature maps may include 2D mappings showing where image features thatare good for identifying vehicles are located. These feature maps may beextracted using a deep convolutional architecture (e.g., the VGG16network or GoogLeNet® network) without any fully connectedclassification layers. Potential vehicles objects may then be identifiedusing feature maps from one or more preceding layers as inputs to regionproposal and object classification layers. This network may be based onarchitectures such as those in “Faster R-CNN: Towards real-time objectdetection with region proposal networks. Advances in neural informationprocessing systems” by Ren, S., He, K., Girshick, R., & Sun, J. (2015)(pp. 91-99) or “SSD: Single Shot MultiBox Detector”, arXiv preprintarXiv:1512.02325, Liu, W., Anguelov, D., Erhan, D., Szegedy, C., & Reed,S. (2015). The outputs of classification may include bounding boxes(e.g., regions of an image frame) that contain potential vehicles, alongwith corresponding confidences that vehicles are within these regions ofthe image. These regions are used as the input for the brake lightdetection.

In night mode, LIDAR is used for detecting vehicles (and/or theircorresponding locations within image or LIDAR frames). Using LIDAR,candidates for vehicles may be found by using a density based clusteringalgorithm such as a density-based spatial clustering of applicationswith noise (DBSCAN) to cluster objects after removing the ground plane(e.g., points corresponding to a road surface). If the dimensions of acluster are within a size range corresponding to a reasonable size of avehicle, the cluster is fed into a trained deep neural network (DNN)with a deep architecture (such as VGG-16) to classify as a vehicle ornot a vehicle. The trained DNN takes in a cluster of 3D points and makesa binary classification as whether the cluster corresponds to a vehicleor not. Regions detected as vehicle are used as the input for the brakelight detection. In some embodiments, other types of range data may beused instead of LIDAR. For example, data from an ultrasound sensingsystem, radar system, or even range data derived from images may beused.

A system may process data within the regions corresponding to a vehicle(as determined by image recognition in the day mode or LIDAR clusteringin the day mode). If the system is to process an image in a day mode,the system converts the image to HSV (hue, saturation, and value) colorspace. The system may filter the saturation channel with different sizesto account for different intensities of sunlight and different times ofthe day. For example, the saturation channel may be filtered with 3different sizes (such as 100 pixels, 150 pixels, and 200 pixels) whichwould result in 3 different thresholded HSV images. For each of thethree thresholded HSV images, contours in the frame or regioncorresponding to a vehicle are extracted. The shape and size of thesecontours may be used to filter out some of them. Any remainingcandidates will be used as regions of interest (ROI) for detecting astate of a brake light. These ROI are fed to a deep neural network thatis trained on a large dataset of brake lights. The output will be one ofthe two labels: positive (brake light on) and negative (brake light noton). The system may then draw a marker on all the detected brake lights.In one embodiment, the neural network may be similar to that disclosedin “Multi-column deep neural network for traffic sign classification”,Ciressan, D., Meier, U., Masci, J., and Schmidhuber, J., NeuralNetworks, 32, 333-338. 23, 201 (2012). For example, a neural networklike Ciressan may be modified to include two extra layers and change thesize of kernels for processing brake lights.

In the night mode, the system may convert images into a lightness andtwo color channels (A and B) color space image (LAB). In one embodiment,the system filters the A channel with different sizes to account fordifferent lighting conditions. For example, the A channel may befiltered with 3 different sizes (100 pixels, 150 pixels, and 200 pixels)to generate 3 different thresholded LAB images. For each of the threethresholded LAB images, contours are extracted. The shape and size ofthese contours may be used to filter out one or more of the contours.Any remaining candidates will be the ROI. The ROI may be fed to a DNNtrained on a large dataset of brake lights. The output of the DNN may beeither positive (brake light on) or negative (brake light not on). Thesystem then draws a marker on all the detected brake lights.

In either day mode or night mode, if the system detects any brake lightsahead of the autonomous vehicle the system may provide a notification toa driving system or driver of the vehicle. For example, a notificationto a driver may be in the form of a visual and/or audio warning messagesaying that the vehicle ahead of autonomous vehicle (or regular vehicle)is braking. As another example, the system may provide a notification toan automated driving system that a vehicle is braking, which may allowthe automated driving system to take action (apply brakes, perform anavoidance maneuver, etc.).

Further embodiments and examples will be discussed in relation to thefigures below.

Referring now to the figures, FIG. 1 illustrates an example vehiclecontrol system 100. The vehicle control system 100 includes an automateddriving/assistance system 102. The automated driving/assistance system102 may be used to automate or control operation of a vehicle or toprovide assistance to a human driver. For example, the automateddriving/assistance system 102 may control one or more of braking,steering, acceleration, lights, alerts, driver notifications, radio,suspension damping, or any other driving or auxiliary systems of thevehicle. In another example, the automated driving/assistance system 102may not be able to provide any control of the driving (e.g., steering,acceleration, or braking), but may provide notifications and alerts toassist a human driver in driving safely. For example, the automateddriving/assistance system 102 may include one or more controllers thatprovide or receive data over a controller bus and use the data todetermine actions to be performed and/or provide instructions or signalsto initiate those actions.

The vehicle control system 100 also includes one or more sensorsystems/devices for detecting a presence of nearby objects, lanemarkers, bumps, road texture, and/or or determining a location of aparent vehicle (e.g., a vehicle that includes the vehicle control system100). For example, the vehicle control system 100 may include radarsystems 106, one or more LIDAR systems 108, one or more camera systems110, a global positioning system (GPS) 112, and/or ultrasound systems114. The vehicle control system 100 may include a data store 116 forstoring relevant or useful data such as vehicle information (modelinformation or vehicle performance characteristics), map data, a drivinghistory (i.e., drive history), or other data. The vehicle control system100 may also include a transceiver 118 for wireless communication with amobile or wireless network, other vehicles, infrastructure, cloud orremote computing or storage resources, or any other communicationsystem.

The vehicle control system 100 may include vehicle control actuators 120to control various aspects of the driving of the vehicle such aselectric motors, switches or other actuators, to control braking,acceleration, steering, suspension, or the like. The vehicle controlsystem 100 may include one or more displays 122, speakers 124, or otherdevices so that notifications to a human driver or passenger may beprovided. A display 122 may include a heads-up display, dashboarddisplay or indicator, a display screen, or any other visual indicator,which may be seen by a driver or passenger of a vehicle. The speakers124 may include one or more speakers of a sound system of a vehicle ormay include a speaker dedicated to driver notification. The vehiclecontrol actuators 120, displays 122, speakers 124, or other parts of thevehicle control system 100 may be controlled by one or more of thecontrollers of the automated driving/assistance system 102.

In one embodiment, the automated driving/assistance system 102 onlyprovides assistance and vehicle control during driving by a humandriver. In one embodiment, the automated driving/assistance system 102is configured to control driving or navigation of a parent vehicle. Forexample, the automated driving/assistance system 102 may control thevehicle control actuators 120 to drive a path within lanes on a road,parking lot, driveway or other location. For example, the automateddriving/assistance system 102 may determine a path based on informationor perception data provided by any of the components 106-118. The sensorsystems/devices 106-110 and 114 may be used to obtain real-time sensordata so that the automated driving/assistance system 102 can assist adriver or drive a vehicle in real-time. In one embodiment, the automateddriving/assistance system 102 also uses information stored in a drivinghistory (locally or remotely) for determining conditions in a currentenvironment. The automated driving/assistance system 102 may implementone or more algorithms, applications, programs, or functionality thatdrive or assist in driving of the vehicle.

The automated driving/assistance system 102 may include a brake lightcomponent 104 for detecting brake lights and/or the state of a brakelight. In one embodiment, the brake light component 104 may identifysub-regions of an image that correspond to a vehicle and may alsodetermine bounding boxes within the sub-region that correspond to brakelights of the vehicle. Image data within the bounding boxes may beprocessed using a deep neural network to classify a brake light as beingon or off.

It will be appreciated that the embodiment of FIG. 1 is given by way ofexample only. Other embodiments may include fewer or additionalcomponents without departing from the scope of the disclosure.Additionally, illustrated components may be combined or included withinother components without limitation.

FIG. 2 is a schematic flow chart diagram illustrating a method 200 fordetecting brake lights. The method 200 may be performed by the automateddriving system 102 and/or the brake light component 104 of FIG. 1.

Input data 202 may be provided as input to the system. The input data202 includes camera data as well as range data. The range data may comefrom, or be generated based on, a camera data, an ultrasound data, radardata, and/or LIDAR data. Based on the input data 202, the brake lightcomponent 104 determines at 204 whether to process data in a day mode ornight mode. For example, the brake light component 104 may use a daymode if the average brightness of pixels in an upper region of a cameraimage is greater than a threshold value (Day at 204). Similarly, thebrake light component 104 may use a night mode if the average brightnessof pixels in an upper region of a camera image is less than a thresholdvalue (Night at 204).

In the day mode, the brake light component 104 may process camera imagesusing one or more DNNs 206 that were trained on images or frames thatinclude vehicles. The DNNs 206 output one or more image regions 208containing vehicles. For example, these image regions 208 may includedata within bounding boxes within an original image or frame where thevehicles are located. The brake light component 104 converts at 210 animage into an HSV format and filters at 212 an S channel with differencesize thresholds. For example, the brake light component 104 may filterthe S channel with various pixel sizes (such as a 100, 150, 200 or otherpixel size). HSV format may work well for daylight images because the Schannel (saturation channel) can be effective for detecting bright orshiny objects in daytime images.

In the night mode, the brake light component 104 may process range data(such as LIDAR data or any other range data) using one or more DNNs 214that were trained on range data images or frames that include vehicles.The DNNs 214 output one or more image regions 216 containing vehicles.For example, the DNNs 214 may perform clustering to identify clusters of3D points in the range data that likely correspond to a vehicle. Basedon the clusters of range data points, the regions 216 of a camera imagethat correspond to range data clusters can be identified and output. Forexample, these image regions 216 may include data within bounding boxeswithin an original image or frame where the vehicles are located. Thebrake light component 104 converts at 218 an image into an LAB formatand filters at 220 an A channel with difference size thresholds. Forexample, the brake light component 104 may filter the A channel withvarious pixel sizes (such as a 100, 150, 200 or other pixel size). LABformat may work well for night-time images because the A channel can beeffective for detecting bright or shiny objects in dark or night-timelighting conditions.

For each of the thresholded images generated in the night mode or daymode (e.g., as generated at 212 or 220), the brake light component 104extracts contours and filters at 222 the contour candidates based onshape and size. For example, the contours may be filtered to removecontours that have a shape or size that likely does not correspond tothe size of a brake light. In one embodiment, different contouring andfiltering algorithms may be used for the night or day mode images. Afterfiltering at 222, any regions of interest 224 are processed using DNNs226 trained on brake light images. The DNNs 226 may only be used toprocess the regions of interest to reduce the amount of processing powerand increase speed in classification. Different neural networks may beused for day mode images and night mode images. In response toprocessing with the DDNs 226, the DNNs 226 output a brake light state228 for each detected vehicle and/or brake light. The brake light state228 may be positive, indicating that a brake light is lit, or negative,indicating that the brake light is not lit. This information can beprovided to a human driver or automated driving system so that drivingmaneuvers can account for this condition.

FIG. 3 illustrates an image 300 of a roadway, which may be captured by avehicle, according to one embodiment. A vehicle bounding box 302 isshown around a vehicle located ahead of the vehicle comprising the brakelight component 104. The vehicle bounding box 302 may correspond to theimage regions 208, 216 as discussed in relation to FIG. 2. For example,the brake light component 104 may identify the vehicle in the vehiclebounding box 302 using an image (in day mode) or range data (such asLIDAR in night mode). Brake light bounding boxes 304 are also shownsurrounding brake lights of the vehicle within the vehicle bounding box302. In one embodiment, only image data within the vehicle bounding box302 may be processed for contours to detect regions of interest that maycontain brake lights. This can provide significant increases inefficiency as well as reduced processing time, both of which can beimportant in automotive applications. Upon determining the brake lightbounding boxes 304, the data within the brake light bounding boxes 304may be processed to determine whether a brake light is on (positive) oroff (negative). For example, a DNN may be used to classify the brakelight within a brake light bounding box 304 as on or off.

Turning to FIG. 4, a schematic block diagram illustrating components ofa brake light component 104, according to one embodiment, is shown. Thebrake light component 104 includes a data component 402, a modecomponent 404, a vehicle region component 406, a brake light regioncomponent 408, and a classification component 410. The components402-410 are given by way of illustration only and may not all beincluded in all embodiments. In fact, some embodiments may include onlyone or any combination of two or more of the components 402-410. Forexample, some of the components 402-410 may be located outside the brakelight component 104, such as within the automated driving/assistancesystem 102.

The data component 402 is configured to obtain camera image data andrange data for a region near a vehicle. See, for example, method 200 at202 of FIG. 2. For example, the data component 402 may obtain cameraframes and images captured by a camera, such as a forward facing cameraof the vehicle. The data component 402 may also capture range data suchas data that indicates a distance to one or more points in space in anenvironment around the vehicle. The range data may include range dataobtained or generated by a LIDAR system, radar system, ultrasoundsensing system, or the like. In one embodiment, the range data mayinclude range data generated based on image data. However, range datagenerated from image data may take more processing time and/or may notbe as accurate in low light conditions. In one embodiment, the datacomponent 402 may obtain or generate image data that has a range(distance) associated with each pixel or one or more pixels within theimage. For example, a visible light spectrum image may have distancesassociated with one or more pixels in the image.

The mode component 404 is configured to select a night mode or a daymode for detecting vehicles and/or brake lights of vehicles. See, forexample, method 200 at 204 in FIG. 2. In one embodiment, the modecomponent 404 processes each image frame that will be used for brakelight detection and selects a day mode or night mode for that image. Themode component 404 may select the mode based on a brightness of aportion of the pixels of an image. For example, the mode component maydetermine an average pixel intensity for a number of rows at the top ofthe image frame. Based on the average pixel intensity being above orbelow a threshold, the mode component 404 may select a day mode (averagepixel intensity above the threshold) or a night mode (average pixelintensity below the threshold). Selecting a proper mode may allow formore accurate vehicle detection, and thus more accurate brake lightdetection.

The vehicle region component 406 detects a region corresponding to avehicle. See, for example, method 200 at 206, 208, 214, and 216. If themode component 404 has selected a night mode, the vehicle regioncomponent 406 may detect vehicles based on data from a range sensor. Inthe night mode, the vehicle region component 406 may use a clusteringalgorithm or DNN to detect a cluster of 3D points that likely correspondto a vehicle. In one embodiment, the vehicle region component 406identifies 2D pixel locations within a camera image that correspond tothe 3D points that have been identified as corresponding to a locationof a vehicle. For example, the vehicle region component 406 may map 3Dpoints in the range data that correspond to a vehicle to 2D points incamera image data to create a vehicle bounding box.

In a day mode, the vehicle region component 406 may use computer visionalgorithms or methods to detect vehicles. If light is sufficient, theday mode may allow for greater range in detecting vehicles. However, ifthe light is insufficient, range data from LIDAR, radar, or the like mayprovide higher accuracy in detecting vehicles. In one embodiment, bothrange data and image data may be used to detect vehicles during thenight mode or in the day mode. In both the day mode and the night mode,a 2D location or bounding box for a vehicle may be generated.

The brake light region component 408 detects regions within an imagethat correspond to brake lights of a vehicle. See, for example, method200 at 210, 212, 218, 220, 222, and 224 of FIG. 2. In one embodiment,the brake light region component 408 determines one or more brake lightbounding boxes that indicate a location within a camera image wherebrake lights of a vehicle are likely located. In one embodiment, thebrake light region component 408 determines the brake light boundingboxes by extracting contours in regions corresponding to vehicles (e.g.,as determined by the vehicle region component 406). The brake lightregion component 408 may also filter or select a subset of thesecontours based on their shape or size. For example, the brake lightregion component 408 may identify contours that have a shape and sizethat correspond to an expected brake light shape or size. In oneembodiment, the shape and size of contours may be predetermined ortrained based on images of vehicles and/or brake lights.

In one embodiment, determining the contours may be performed usingdifferent image formats depending on whether a day mode or a night modeis selected. For example, in a day mode, an RGB image may be convertedinto HSV color space for contour detection. In night mode, an RBG imagemay be converted into LAB color space for contour detection. Oncecontours are detected, a corresponding brake light bounding box may bedetermined image data (in RGB or other format) may then be provided tothe classification component 410 for classification of the brake lightas on or off.

The classification component 410 classifies a brake light as on or off.See, for example, method 200 at 224, 226 of FIG. 2. In one embodiment,the classification component 410 processes camera image data within aregion determined by the brake light region component 408. For example,the classification component 410 may include or use a DNN to processesthe image data in a brake light bounding box and classify the brakelight as on or off. In one embodiment, the DNN used may depend onwhether the mode component 404 selected. For example, one or more DNNsmay be used to process day mode images while one or more other DNNs maybe used to process night mode images. The classification component 410may provide the results of a classification of a brake light or avehicle to a vehicle control system 100 for notifying a human driver orfor automated driving decision making.

FIG. 5 is a schematic flow chart diagram illustrating a method 500 fordetecting brake lights and their state. The method 500 may be performedby a brake light component or vehicle control system, such as the brakelight component 104 of FIG. 1 or 4 or the vehicle control system 100 ofFIG. 1.

The method 500 begins and a mode component 404 selects at 502 a nightmode or day mode based on a pixel brightness in an image frame. The modecomponent 404 may select at 502 the night mode or day mode based in thepixel brightness in the upper portion of an RGB frame. For example, theupper portion may correspond to the sky or another area above thevehicle. If the area in the upper portion of the image is above athreshold, the method 500 may continue in a day mode. If the area in theupper portion of the image is below a threshold, the method 500 maycontinue in a night mode.

A vehicle region component 406 detects at 504 a region corresponding toa vehicle based on data from a range sensor when in a night mode orbased on camera image data when in the day mode. For example, in thenight mode, the vehicle region component 406 may detect at 504 a vehicleusing a clustering algorithm to identify clusters of range data pointsthat likely correspond to a vehicle. The vehicle region component 406may then associate the location of the cluster of points with acorresponding region of a camera image to produce a vehicle region orvehicle bounding box indicating where a vehicle is likely located in acamera image. A DNN may be used to detect 3D point clusters within therange data (e.g., LIDAR data) that correspond to a vehicle. As anotherexample, in the day mode, the vehicle region component 406 may detect at504 a vehicle using image recognition on an image captured by a camera.The vehicle region component 406 may then generate a vehicle region orvehicle bounding box that contains the vehicle within a camera image. ADNN may be used to detect the vehicle, its size, and/or its locationwithin the image. Thus, whether the day mode or night mode is used, avehicle is detected and/or located in a camera image and region orbounding box is determined that contains the vehicle. Using range data,such as from LIDAR, can allow for more accurate and dependable detectionof vehicles during dark or night-time driving conditions.

A classification component 410 classifies at 506 a brake light of thevehicle as on or off based on image data in the region corresponding tothe vehicle. Classification at 506 may be performed using a DNN that hasbeen trained on day and/or night brake light images. Because theclassification at 506 is performed on only smaller regions that likelycontain brake lights, significantly smaller and easier to train DNNs maybe used, leading to reduced training costs, faster processing times, andincreased efficiency. In one embodiment, a bounding box for a brakelight is also located within the region corresponding to the vehicle tofurther increase processing efficiency.

Referring now to FIG. 6, a block diagram of an example computing device600 is illustrated. Computing device 600 may be used to perform variousprocedures, such as those discussed herein. Computing device 600 canfunction as a brake light component 104, automated driving/assistancesystem 102, or the like. Computing device 600 can perform variousmonitoring functions as discussed herein, and can execute one or moreapplication programs, such as the application programs or functionalitydescribed herein. Computing device 600 can be any of a wide variety ofcomputing devices, such as a desktop computer, in-dash computer, vehiclecontrol system, a notebook computer, a server computer, a handheldcomputer, tablet computer and the like.

Computing device 600 includes one or more processor(s) 602, one or morememory device(s) 604, one or more interface(s) 606, one or more massstorage device(s) 608, one or more Input/Output (I/O) device(s) 610, anda display device 630 all of which are coupled to a bus 612. Processor(s)602 include one or more processors or controllers that executeinstructions stored in memory device(s) 604 and/or mass storagedevice(s) 608. Processor(s) 602 may also include various types ofcomputer-readable media, such as cache memory.

Memory device(s) 604 include various computer-readable media, such asvolatile memory (e.g., random access memory (RAM) 614) and/ornonvolatile memory (e.g., read-only memory (ROM) 616). Memory device(s)604 may also include rewritable ROM, such as Flash memory.

Mass storage device(s) 608 include various computer readable media, suchas magnetic tapes, magnetic disks, optical disks, solid-state memory(e.g., Flash memory), and so forth. As shown in FIG. 6, a particularmass storage device is a hard disk drive 624. Various drives may also beincluded in mass storage device(s) 608 to enable reading from and/orwriting to the various computer readable media. Mass storage device(s)608 include removable media 626 and/or non-removable media.

I/O device(s) 610 include various devices that allow data and/or otherinformation to be input to or retrieved from computing device 600.Example I/O device(s) 610 include cursor control devices, keyboards,keypads, microphones, monitors or other display devices, speakers,printers, network interface cards, modems, and the like.

Display device 630 includes any type of device capable of displayinginformation to one or more users of computing device 600. Examples ofdisplay device 630 include a monitor, display terminal, video projectiondevice, and the like.

Interface(s) 606 include various interfaces that allow computing device600 to interact with other systems, devices, or computing environments.Example interface(s) 606 may include any number of different networkinterfaces 620, such as interfaces to local area networks (LANs), widearea networks (WANs), wireless networks, and the Internet. Otherinterface(s) include user interface 618 and peripheral device interface622. The interface(s) 606 may also include one or more user interfaceelements 618. The interface(s) 606 may also include one or moreperipheral interfaces such as interfaces for printers, pointing devices(mice, track pad, or any suitable user interface now known to those ofordinary skill in the field, or later discovered), keyboards, and thelike.

Bus 612 allows processor(s) 602, memory device(s) 604, interface(s) 606,mass storage device(s) 608, and I/O device(s) 610 to communicate withone another, as well as other devices or components coupled to bus 612.Bus 612 represents one or more of several types of bus structures, suchas a system bus, PCI bus, IEEE bus, USB bus, and so forth.

For purposes of illustration, programs and other executable programcomponents are shown herein as discrete blocks, although it isunderstood that such programs and components may reside at various timesin different storage components of computing device 600, and areexecuted by processor(s) 602. Alternatively, the systems and proceduresdescribed herein can be implemented in hardware, or a combination ofhardware, software, and/or firmware. For example, one or moreapplication specific integrated circuits (ASICs) can be programmed tocarry out one or more of the systems and procedures described herein.

EXAMPLES

The following examples pertain to further embodiments.

Example 1 is a method that includes selecting a night mode or day modebased on a pixel brightness in an image frame. The method includesdetecting a region corresponding to a vehicle based on data from a rangesensor when in a night mode or based on camera image data when in theday mode. The method includes classifying a brake light of the vehicleas on or off based on image data in the region corresponding to thevehicle.

In Example 2, the method of Example 1 includes determining one or morebounding boxes corresponding to brake lights of the vehicle in theregion corresponding to the vehicle.

In Example 3, determining the one or more bounding boxes as in Example 2includes extracting contours in the region corresponding to the vehicleselecting contours having a shape or size corresponding to a brake lightshape or size.

In Example 4, classifying the brake light as in any of Examples 2-3includes classifying based on image data corresponding to the one ormore bounding boxes.

In Example 5, determining the one or more bounding boxes correspondingbrake lights as in any of Examples 2-4 includes determining based onimage data in a HSV format for the day mode and based on image data in aLAB format for the night mode.

In Example 6, classifying the brake light as in any of Examples 1-5includes classifying using a neural network.

In Example 7, detecting the region corresponding to a vehicle based ondata from a range sensor when in the night mode as in any of Examples1-6 includes identifying a cluster of points in the range datacorresponding to the vehicle and mapping a bounding box of the clusterof points to a corresponding image frame.

In Example 8, the range data in the night mode as in any of Examples 1-7includes one or more of radar data, ultrasound data, and LIDAR data.

Example 9 is a system that includes a mode component, a vehicle regioncomponent, and a classification component. The mode component isconfigured to select a night mode or day mode based on a pixelbrightness in an image frame. The vehicle region component is configuredto detect a region corresponding to a vehicle based on data from a rangesensor when in a night mode or based on camera image data when in theday mode. The classification component is configured to classify a brakelight of the vehicle as on or off based on image data in the regioncorresponding to the vehicle.

In Example 10, a system as in Example 9 further includes a brake lightregion component configured to determine one or more bounding boxescorresponding to brake lights of the vehicle in the region correspondingto the vehicle.

In Example 11, a brake light region component as in Example 10 isconfigured to determine the one or more bounding boxes by extractingcontours in the region corresponding to the vehicle and selectingcontours having a shape or size corresponding to a brake light shape orsize.

In Example 12, a classification component as in any of Examples 10-11 isconfigured to classify the brake light by classifying based on imagedata corresponding to the one or more bounding boxes.

In Example 13, a brake light region component as in any of Examples10-12 is configured to determine the one or more bounding boxes based onimage data in a HSV format for the day mode and based on image data in aLAB format for the night mode.

In Example 14, a classification component as in any of Examples 9-13 isconfigured to classify the brake light of the vehicle as on or off usinga neural network.

In Example 15, a vehicle region component detecting the regioncorresponding to a vehicle based on data from a range sensor when in thenight mode as in any of Examples 9-14 includes identifying a cluster ofpoints in the range data corresponding to the vehicle and mapping abounding box of the cluster of points to a corresponding image frame.

Example 16 is a computer readable storage media storing instructionsthat, when executed by one or more processors, cause the one or moreprocessors to select a night mode or day mode based on a pixelbrightness in an image frame. The instructions cause the one or moreprocessors to detect a region corresponding to a vehicle based on datafrom a range sensor when in a night mode or based on camera image datawhen in the day mode. The instructions cause the one or more processorsto classify a brake light of the vehicle as on or off based on imagedata in the region corresponding to the vehicle.

In Example 17, a computer readable media as in Example 16 furtherincludes instructions that cause the one or more processors to determineone or more bounding boxes corresponding to brake lights of the vehiclein the region corresponding to the vehicle.

In Example 18, instructions cause the one or more processors todetermine the one or more bounding boxes as in Example 17 by extractingcontours in the region corresponding to the vehicle and selectingcontours having a shape or size corresponding to a brake light shape orsize. The instructions cause the one or more processors to classify thebrake light based on image data corresponding to the one or morebounding boxes.

In Example 19, instructions cause the one or more processors as in anyof Examples 16-18 to classify the brake light of the vehicle as on oroff using a neural network.

In Example 20, detecting the region corresponding to a vehicle based ondata from a range sensor when in the night mode as in any of Example16-19 includes identifying a cluster of points in the range datacorresponding to the vehicle and mapping a bounding box of the clusterof points to a corresponding image frame.

Example 21 is a system or device that includes means for implementing amethod or realizing a system or apparatus in any of Examples 1-20.

In the above disclosure, reference has been made to the accompanyingdrawings, which form a part hereof, and in which is shown by way ofillustration specific implementations in which the disclosure may bepracticed. It is understood that other implementations may be utilizedand structural changes may be made without departing from the scope ofthe present disclosure. References in the specification to “oneembodiment,” “an embodiment,” “an example embodiment,” etc., indicatethat the embodiment described may include a particular feature,structure, or characteristic, but every embodiment may not necessarilyinclude the particular feature, structure, or characteristic. Moreover,such phrases are not necessarily referring to the same embodiment.Further, when a particular feature, structure, or characteristic isdescribed in connection with an embodiment, it is submitted that it iswithin the knowledge of one skilled in the art to affect such feature,structure, or characteristic in connection with other embodimentswhether or not explicitly described.

Implementations of the systems, devices, and methods disclosed hereinmay comprise or utilize a special purpose or general-purpose computerincluding computer hardware, such as, for example, one or moreprocessors and system memory, as discussed herein. Implementationswithin the scope of the present disclosure may also include physical andother computer-readable media for carrying or storingcomputer-executable instructions and/or data structures. Suchcomputer-readable media can be any available media that can be accessedby a general purpose or special purpose computer system.Computer-readable media that store computer-executable instructions arecomputer storage media (devices). Computer-readable media that carrycomputer-executable instructions are transmission media. Thus, by way ofexample, and not limitation, implementations of the disclosure cancomprise at least two distinctly different kinds of computer-readablemedia: computer storage media (devices) and transmission media.

Computer storage media (devices) includes RAM, ROM, EEPROM, CD-ROM,solid state drives (“SSDs”) (e.g., based on RAM), Flash memory,phase-change memory (“PCM”), other types of memory, other optical diskstorage, magnetic disk storage or other magnetic storage devices, or anyother medium, which can be used to store desired program code means inthe form of computer-executable instructions or data structures andwhich can be accessed by a general purpose or special purpose computer.

An implementation of the devices, systems, and methods disclosed hereinmay communicate over a computer network. A “network” is defined as oneor more data links that enable the transport of electronic data betweencomputer systems and/or modules and/or other electronic devices. Wheninformation is transferred or provided over a network or anothercommunications connection (either hardwired, wireless, or a combinationof hardwired or wireless) to a computer, the computer properly views theconnection as a transmission medium. Transmissions media can include anetwork and/or data links, which can be used to carry desired programcode means in the form of computer-executable instructions or datastructures and which can be accessed by a general purpose or specialpurpose computer. Combinations of the above should also be includedwithin the scope of computer-readable media.

Computer-executable instructions comprise, for example, instructions anddata which, when executed at a processor, cause a general purposecomputer, special purpose computer, or special purpose processing deviceto perform a certain function or group of functions. The computerexecutable instructions may be, for example, binaries, intermediateformat instructions such as assembly language, or even source code.Although the subject matter has been described in language specific tostructural features and/or methodological acts, it is to be understoodthat the subject matter defined in the appended claims is notnecessarily limited to the described features or acts described above.Rather, the described features and acts are disclosed as example formsof implementing the claims.

Those skilled in the art will appreciate that the disclosure may bepracticed in network computing environments with many types of computersystem configurations, including, an in-dash vehicle computer, personalcomputers, desktop computers, laptop computers, message processors,hand-held devices, multi-processor systems, microprocessor-based orprogrammable consumer electronics, network PCs, minicomputers, mainframecomputers, mobile telephones, PDAs, tablets, pagers, routers, switches,various storage devices, and the like. The disclosure may also bepracticed in distributed system environments where local and remotecomputer systems, which are linked (either by hardwired data links,wireless data links, or by a combination of hardwired and wireless datalinks) through a network, both perform tasks. In a distributed systemenvironment, program modules may be located in both local and remotememory storage devices.

Further, where appropriate, functions described herein can be performedin one or more of: hardware, software, firmware, digital components, oranalog components. For example, one or more application specificintegrated circuits (ASICs) can be programmed to carry out one or moreof the systems and procedures described herein. Certain terms are usedthroughout the description and claims to refer to particular systemcomponents. The terms “modules” and “components” are used in the namesof certain components to reflect their implementation independence insoftware, hardware, circuitry, sensors, or the like. As one skilled inthe art will appreciate, components may be referred to by differentnames. This document does not intend to distinguish between componentsthat differ in name, but not function.

It should be noted that the sensor embodiments discussed above maycomprise computer hardware, software, firmware, or any combinationthereof to perform at least a portion of their functions. For example, asensor may include computer code configured to be executed in one ormore processors, and may include hardware logic/electrical circuitrycontrolled by the computer code. These example devices are providedherein purposes of illustration, and are not intended to be limiting.Embodiments of the present disclosure may be implemented in furthertypes of devices, as would be known to persons skilled in the relevantart(s).

At least some embodiments of the disclosure have been directed tocomputer program products comprising such logic (e.g., in the form ofsoftware) stored on any computer useable medium. Such software, whenexecuted in one or more data processing devices, causes a device tooperate as described herein.

While various embodiments of the present disclosure have been describedabove, it should be understood that they have been presented by way ofexample only, and not limitation. It will be apparent to persons skilledin the relevant art that various changes in form and detail can be madetherein without departing from the spirit and scope of the disclosure.Thus, the breadth and scope of the present disclosure should not belimited by any of the above-described exemplary embodiments, but shouldbe defined only in accordance with the following claims and theirequivalents. The foregoing description has been presented for thepurposes of illustration and description. It is not intended to beexhaustive or to limit the disclosure to the precise form disclosed.Many modifications and variations are possible in light of the aboveteaching. Further, it should be noted that any or all of theaforementioned alternate implementations may be used in any combinationdesired to form additional hybrid implementations of the disclosure.

Further, although specific implementations of the disclosure have beendescribed and illustrated, the disclosure is not to be limited to thespecific forms or arrangements of parts so described and illustrated.The scope of the disclosure is to be defined by the claims appendedhereto, any future claims submitted here and in different applications,and their equivalents.

What is claimed is:
 1. A method comprising: selecting a night mode or aday mode based on a pixel brightness in an image frame; detecting animage region corresponding to a vehicle based on range sensor data whenin the night mode or based on camera image data when in the day mode;converting the range sensor data into luminosity and two-color channel(LAB) color space when in the night mode; converting the camera imagedata into hue, saturation, and value (HSV) color space when in the daymode; determining at least one region of interest within the imageregion corresponding to a brake light of the vehicle based on theconverted range sensor data or the converted camera image data;classifying the brake light of the vehicle as on or off based on the atleast one region of interest to generate a brake light classification;and executing a driving maneuver based on the brake lightclassification.
 2. The method of claim 1, further comprising determiningone or more bounding boxes corresponding to brake lights of the vehiclein the image region corresponding to the vehicle.
 3. The method of claim2, wherein determining the one or more bounding boxes comprises:extracting contours in the image region corresponding to the vehicle;and selecting contours having a shape or size corresponding to a brakelight shape or size.
 4. The method of claim 2, wherein classifying thebrake light comprises classifying based on image data corresponding tothe one or more bounding boxes.
 5. The method of claim 2, whereindetermining the one or more bounding boxes corresponding to brake lightscomprises determining based on the HSV color space when in the day modeand based on the LAB color space when in the night mode.
 6. The methodof claim 1, wherein classifying the brake light of the vehicle as on oroff comprises classifying using a neural network.
 7. The method of claim1, wherein detecting the image region corresponding to the vehicle basedon the range sensor data when in the night mode comprises: identifying acluster of points in the range sensor data corresponding to the vehicle;and mapping a bounding box of the cluster of points to a correspondingimage frame.
 8. The method of claim 1, further comprising: generatingfiltered frames by filtering at least one of the LAB color space or theHSV color space with different sizes based on different lightingconditions; wherein classifying the brake light of the vehicle as on oroff comprises classifying based on the filtered frames.
 9. A systemcomprising a processor that is programmable to execute instructionsstored in non-transitory computer readable storage media, theinstructions comprising: selecting a night mode or a day mode based on apixel brightness in an image frame; detecting an image regioncorresponding to a vehicle based on range sensor data when in the nightmode or based on camera image data when in the day mode; converting therange sensor data into luminosity and two-color channel (LAB) colorspace when in the night mode; converting the camera image data into hue,saturation, and value (HSV) color space when in the day mode;determining at least one region of interest within the image regioncorresponding to a brake light of the vehicle based on the convertedrange sensor data or the converted camera image data; classifying thebrake light of the vehicle as on or off based on the at least one regionof interest to generate a brake light classification; and executing adriving maneuver based on the brake light classification.
 10. The systemof claim 9, wherein the instructions further comprise determining one ormore bounding boxes corresponding to brake lights of the vehicle in theimage region corresponding to the vehicle.
 11. The system of claim 10,wherein determining the one or more bounding boxes comprises: extractingcontours in the region corresponding to the vehicle; and selectingcontours having a shape or size corresponding to a brake light shape orsize.
 12. The system of claim 10, wherein classifying the brake light ason or off comprises classifying based on image data corresponding to theone or more bounding boxes.
 13. The system of claim 10, whereindetermining the one or more bounding boxes corresponding to brake lightscomprises determining based on the HSV color space when in the day modeand based on the LAB color space when in the night mode.
 14. The systemof claim 9, wherein classifying the brake light of the vehicle as on oroff comprises classifying using a neural network.
 15. The system ofclaim 9, wherein detecting the image region corresponding to the vehiclebased on the range sensor data when in the night mode comprises:identifying a cluster of points in the range sensor data correspondingto the vehicle; and mapping a bounding box of the cluster of points to acorresponding image frame.
 16. Non-transitory computer readable storagemedia storing instructions that, when executed by one or moreprocessors, cause the one or more processors to: select a night mode ora day mode based on a pixel brightness in an image frame; detect animage region corresponding to a vehicle based on range sensor data whenin the night mode or based on camera image data when in the day mode;convert the range sensor data into luminosity and two-color channel(LAB) color space when in the night mode; convert the camera image datainto hue, saturation, and value (HSV) color space when in the day mode;determine at least one region of interest within the image regioncorresponding to a brake light of the vehicle based on the convertedrange sensor data or the converted camera image data; classify the brakelight of the vehicle as on or off based on the at least one region ofinterest to generate a brake light classification; and execute a drivingmaneuver based on the brake light classification.
 17. The non-transitorycomputer readable storage media of claim 16, further comprisinginstructions that cause the one or more processors to determine one ormore bounding boxes corresponding to brake lights of the vehicle in theimage region corresponding to the vehicle.
 18. The non-transitorycomputer readable storage media of claim 17, wherein the instructionscause the one or more processors to determine the one or more boundingboxes by: extracting contours in the image region corresponding to thevehicle; and selecting contours having a shape or size corresponding toa brake light shape or size; wherein the instructions cause the one ormore processors to classify the brake light based on image datacorresponding to the one or more bounding boxes.
 19. The non-transitorycomputer readable storage media of claim 16, wherein the instructionscause the one or more processors to classify the brake light of thevehicle as on or off using a neural network.
 20. The non-transitorycomputer readable storage media of claim 16, wherein the instructionscause the one or more processors to detect the image regioncorresponding to the vehicle based on the range sensor data when in thenight mode by: identifying a cluster of points in the range sensor datacorresponding to the vehicle; and mapping a bounding box of the clusterof points to a corresponding image frame.